In his book Historic Hudson: An Architectural Portrait, Byrne Fone included, on page 48, this image of the Hudson waterfront.
The engraving, which is from the collection of the Columbia County Historical Society, is by Jacques Louis Milbert and shows the view from the north, looking south. The Parade, now known as Promenade Hill, appears in the left foreground.
This morning, Fone sent me this image of the Hudson waterfront, also an engraving by Jacques Louis Milbert, also c. 1820. In this engraving, the view of Hudson and the river is from Mount Merino, looking north.